Abstract
In under ocean research, submarine plays indispensable role for collecting the facts and operating under sea. Due to working under ocean the task of submarine is risky for crew as well as for submarine itself. Therefore a dire investigation is needed for accurate and reliable maneuvering of submarine. A reliable and autonomous control system guarantees the safety of mission. Due to sensitivity of work the International Federation Of Automatic Control (IFAC) has marked the submarine control as benchmark problem. Intelligent control systems are achieving wide acceptance for nonlinear and complex system whose dynamics change with operating conditions
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